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<div class="header">
  <div class="summary">
<a href="#pub-types">Public Types</a> &#124;
<a href="structPxVehicleDriveTankControlModel-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">PxVehicleDriveTankControlModel Struct Reference<div class="ingroups"><a class="el" href="group__vehicle.html">Vehicle</a></div></div>  </div>
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<p>Two driving models are supported.  
 <a href="structPxVehicleDriveTankControlModel.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="PxVehicleDriveTank_8h_source.html">PxVehicleDriveTank.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a15800ba4f6142803c1b0d0098a942b13"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxVehicleDriveTankControlModel.html#a15800ba4f6142803c1b0d0098a942b13">Enum</a> { <a class="el" href="structPxVehicleDriveTankControlModel.html#a15800ba4f6142803c1b0d0098a942b13a821928ad26165cebefaadb6444fe9395">eSTANDARD</a> =0, 
<a class="el" href="structPxVehicleDriveTankControlModel.html#a15800ba4f6142803c1b0d0098a942b13a624816a2f960b2025b6c24dd5205fc1b">eSPECIAL</a>
 }</td></tr>
<tr class="separator:a15800ba4f6142803c1b0d0098a942b13"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Two driving models are supported. </p>
<dl class="section note"><dt>Note</dt><dd>If eSTANDARD is chosen the left and right wheels are always driven in the same direction. If the tank is in a forward gear the left and right wheels will all be driven forwards, while in reverse gear the left and right wheels will all be driven backwards. With eSTANDARD the legal range of left and right thrust is (0,1).</dd>
<dd>
If eSPECIAL is chosen it is possible to drive the left and right wheels in different directions. With eSPECIAL the legal range of left and right thrust is (-1,1). In forward(reverse) gear negative thrust values drive the wheels backwards(forwards), while positive thrust values drives the wheels forwards(backwards).</dd>
<dd>
A sharp left turn can be achieved in eSTANDARD mode by braking with the left wheels and thrusting forward with the right wheels. A smaller turning circle can theoretically be achieved in eSPECIAL mode by applying negative thrust to the left wheels and positive thrust to the right wheels.</dd>
<dd>
In both modes the legal ranges of acceleration and left/right brake are all (0,1).</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxVehicleDriveTank.html#adc228416d792c11e78d41028bf24fad6" title="Set the control model used by the tank. ">PxVehicleDriveTank::setDriveModel</a> </dd></dl>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a15800ba4f6142803c1b0d0098a942b13"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a15800ba4f6142803c1b0d0098a942b13">&#9670;&nbsp;</a></span>Enum</h2>

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          <td class="memname">enum <a class="el" href="structPxVehicleDriveTankControlModel.html#a15800ba4f6142803c1b0d0098a942b13">PxVehicleDriveTankControlModel::Enum</a></td>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a15800ba4f6142803c1b0d0098a942b13a821928ad26165cebefaadb6444fe9395"></a>eSTANDARD&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a15800ba4f6142803c1b0d0098a942b13a624816a2f960b2025b6c24dd5205fc1b"></a>eSPECIAL&#160;</td><td class="fielddoc"></td></tr>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="PxVehicleDriveTank_8h_source.html">PxVehicleDriveTank.h</a></li>
</ul>
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